On the Discretization of a Class of Homogeneous Differentiators

Jose Eduardo Carvajal Rubio (1) , Alexander Loukianov (1) , Juan Diego Sanchez-Torres (2) , Michael Defoort (3, 4)

1 CINVESTAV-IPN - Department of Computer Science Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN) Mexico City, Mexico
2 ITESO - Universidad Jesuita de Guadalajara
3 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
4 INSA Hauts-De-France - INSA Institut National des Sciences Appliquées Hauts-de-France

This paper proposes explicit and implicit discrete-time realizations for a class of homogeneous sliding-mode-based differentiators. The proposed approach relies on the exact discretization of the continuous differentiator. Also, it is demonstrated that the proposed implicit discretization always exists, is non-anticipative and unique. A numerical simulation shows the better performance of the implicit scheme over the proposed and the referenced explicit implementations.

Mots clés: Observers; Sliding mode control; Convergence; Variable structure systems; Discrete-time systems

Domaines: Automatique / Robotique

Jose Eduardo Carvajal Rubio, Alexander Loukianov, Juan Diego Sanchez-Torres, Michael Defoort. On the Discretization of a Class of Homogeneous Differentiators. 16th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE'19), Sep 2019, Mexico City, Mexico. pp.1-6, ⟨10.1109/ICEEE.2019.8884567⟩. ⟨hal-03519369⟩